Parameterization and commissioning
EL6751
125
Version: 3.5
Fig. 127: Flow chart for EL6751 with scanning of the CAN bus
After a power-on, the EL6751 is in the INIT state and has no CANopen configuration. The CAN controller is
in the OFFLINE state.
Scanning the CAN bus
The scanning of the CAN bus can be started in the PREOP state, provided that no CANopen configuration
has been loaded yet. To this end, the desired baud rate must be written to entry 0xF002:01 (SDO download).
The EL6751 switches the CAN controller with the appropriate baud rate to ONLINE and scans the CAN bus.
By cyclically reading (SDO upload) the entries 0xF002:02 or 0xF002:03, the EtherCAT master can determine
the progress of the scanning of the CAN bus.
